A Single CCD Algorithm to Determine the Position and Attitude during Rolling Phase of Rendezvous and Docking

摘要：

　　Propose a new algorithm that use Euler angles to calculate directly large relative position and attitude of rendezvous and docking.By analyzing the feasibility of using Euler angles to solve instead of using quaternion and deriving the relations between the coordinates of the identification-points and the coordinates of point-images, a group of non-linear equations including relative position and attitude is established.It is proved that three non-collinear points are sufficient and required to determine the position and attitude uniquely.The whole deriving process does not mention any assumption and simplification in theory.Simulations indicate that the algorithm is high-accurate, unique-solution and wide application scope.

关键词： rendezvous and docking rolling position and attitude determination Euler angle

作者: Zheng Li-li Jiang Yu-xian

作者单位: Unmanned Aircraft Vehicle Institute,BUAA,Beijing 100191,China School of Automation Science and Electrical Engineering,BUAA,Beijing 100191,China

会议类型: 国际会议

会议名称: the 3nd International Conference on Digital Manufacturing & Automation (第三届数字制造与自动化国际会议(ICDMA 2012))

会议地点: 桂林

会议语种:英文

页码: 813-818

在线出版日期: 2012-08-01（万方平台首次上网日期，不代表论文的发表时间）